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# Welcome to Heterogeneous Multi-Agent Systems's documentation!

Documentation for a Heterogeneous Multi-Agent System (HMAS), developed as part of a PhD thesis.

The CITATION.cff file isn't update yet.

Here is the **GitHub link** for this research project: [github.com/Amaury-SJ/heterogeneous-multi-agent-systems]

**Summary**: This project aims to design a generic, decentralized, and interoperable system via the ROS 2 middleware, enabling autonomous missions in complex real-world environments, with interaction and collaboration between robots and human operators. Two original approaches to real-time 3D localization are proposed: a RTK GNSS solution for outdoor use and the NAPS nomadic system for indoor use, both offering robust centimeter-level accuracy and suitable for multi-agent systems. A role-based trust model is also introduced to monitor agent behaviors, detect anomalies, and enhance system resilience. All these contributions, integrated into ROS 2, were tested on a real HMAS combining ground and aerial mobile robots.

**Keywords**: Multi-Agent, Networked mobile robots, Cyber-Physical Systems, ROS 2 middleware, Indoor-Outdoor 3D Localization, Embedded Systems.

## Table of contents

Citations and references 📔

```{toctree}
:maxdepth: 1
papers-articles-thesis-citations
```

Software and hardware tutorials 💻

```{toctree}
:maxdepth: 1
bag-data-ros2
emlid-rtk-tutorial
naps-high-precision-indoor-positioning
geolocation
```

ROS 2 packages developed 📚

```{toctree}
:maxdepth: 1
rtk-gps-pckg-ros2
rviz2-pckg-ros2
```

Experiments performed 🤖

```{toctree}
:maxdepth: 1
experiments-gps-board
experiments-hydrogen-car
```

Open science, tips and tricks 🧮

```{toctree}
:maxdepth: 1
zotero
create_your_doc
```

Our API 💾

```{toctree}
:maxdepth: 1
apidocs/index
```

[github.com/Amaury-SJ/heterogeneous-multi-agent-systems]: https://github.com/Amaury-SJ/heterogeneous-multi-agent-systems